[Playerstage-developers] Re al robot's position

[Dariusz S. <smi...@gm...>]

Hello
I use Player 2.0.4 and Stage 2.0.3. I've written simple playerstage client
for simulate labmate, with labmate parameters and so on. But i have some
problems with it... Like most of robots, also mine have odometry with
errors. I have to compute this odometry errors, because I have to enumerate
model of my robot. 
For this I want to drive my robot for square 1mx1m. It's look like this:
http://pl.youtube.com/watch?v=h2-eza262M0
Every pit-stop have to be measured position of robot. Then I have positions
with errors, but also I want to have real position (e.g. global position) of
robot. I've tried something like this:

Position2dProxy *pp;
SimulationProxy *sim;

double posX, posY, posAlpha;
posX = pp->GetXPos();
posY = pp->GetYPos();
posAlpha = pp->GetYaw();
sim->GetPose2d("labmate_pp0", posX, posY, posAlpha);

but I have segmentation fault, when try to start this.
I don't know if i'm using GetPose2d correct. In documentation it's something
like this:
>void 	GetPose2d (char *identifier, double &x, double &y, double &a)
>get the pose of an object in the simulator, identified by the std::string
Returns 0 on success, else a non-zero error code. 
 	
I think, that identifier is name of object, which I have to localise, but I
don't know what to do with remaining parameters.

If anyone could help me, or is alternative way to read real position of
robot, I would be very grateful.

Regards,
Dariusz.
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